Robotic workspaces after a free-swinging failure

URI

View/Open

Metadata

Altmetrics

Abstract

A robotic manipulator can fail in many different ways, and its capabilities after a failure are a major concern, especially for manipulators used in hazardous and remote environments, where the cost of repair or replacement is high. This article presents a study of the workspaces of robotic arms after a free-swinging failure, defined as a hardware or software failure that prevents the application of actuator torque on a joint. Two analytical methods are discussed. The first is for planar arms only and is based on a positional inverse-kinematic algorithm that uses polynomial roots, guaranteeing ...